Trajectory Optimization of Glue Spraying on Athletic Footwear Sole Based on Multivariable Spray Torch Model

Regarding the spraying of glue on sidewall athletic footwear sole, adopting robot arm for automatic shoe soles to solve problems efficiency manpower, low precision and substandard quality. Established a spray torch model with pressure swath pf , atomizing xmlns:xlink="http://www.w3.org/1999/xlink">pw flow xmlns:xlink="http://www.w3.org/1999/xlink">q distance xmlns:xlink="http://www.w3.org/1999/xlink">h angle θ as variables, visual trajectory offset function was established by introducing xmlns:xlink="http://www.w3.org/1999/xlink">L sole normal vector xmlns:xlink="http://www.w3.org/1999/xlink">n point, B-spline curve used interpolation trajectory. The improved non-dominated sorting genetic algorithm (INSGA-П) adopted time, energy, smoothness objectives. A normalized weight that treated three objectives equal importance optimize solutions. Furthermore, simulation experiments were conducted size 41. As revealed in results, provided energy are ensured, proposed can uniformly within 7.27 s, no overflow leakage phenomenon, effect is uniform, peeling strength more than 2.5Kgf/cm, greater process requirements index. Through research this paper, bottleneck solved, transformation shoes clothing industry automation promoted.